A PnP Algorithm for Two-Dimensional Pose Estimation

• URL: http://arxiv.org/abs/2312.08488v3
• Date: Fri, 8 Mar 2024 05:19:33 GMT
• Title: A PnP Algorithm for Two-Dimensional Pose Estimation
• Abstract summary: Leveraging the assumption allows and performance improvements 3D accuracy due to the reduction in search space dimensionality. Our algorithm finds an ambiguous solution by solving a system and refines its prediction iteratively to minimize the reiteration error.
• Score: 0.0
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: We propose a PnP algorithm for a camera constrained to two-dimensional motion (applicable, for instance, to many wheeled robotics platforms). Leveraging this assumption allows accuracy and performance improvements over 3D PnP algorithms due to the reduction in search space dimensionality. It also reduces the incidence of ambiguous pose estimates (as, in most cases, the spurious solutions fall outside the plane of movement). Our algorithm finds an approximate solution by solving a polynomial system and refines its prediction iteratively to minimize the reprojection error. The algorithm compares favorably to existing 3D PnP algorithms in terms of accuracy, performance, and robustness to noise.

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